matlabbe
870467393b
workflow: add docker buildcache
2021-09-20 11:33:19 -04:00
matlabbe
79f203a2c4
docker workflow: fixed build matrix
2021-09-20 11:16:12 -04:00
matlabbe
baa5b638ae
Added "docker" workflow
2021-09-20 11:11:21 -04:00
matlabbe
8f12463f71
Docker: upgraded alicevision version 2.4.0 in bionic/focal images
2021-09-19 20:42:56 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
44b057b0d7
DbViewer: fixed icp from depth option not used when refining or adding loop closures automaticaly
2021-09-13 15:59:19 -04:00
matlabbe
a901f20d06
0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.
2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
263e0170f1
export: refactored ba (to support stereo data)
2021-09-09 14:22:02 -04:00
matlabbe
e017a0fcf4
DbViewer: fixed initial rootid with older databases, fixed RGBD/OptimizeFromGraphEnd not correctly used.
2021-09-08 18:13:20 -04:00
matlabbe
103db3181b
Update README.md
2021-09-08 17:13:13 -04:00
matlabbe
bc253df24a
Update README.md
2021-09-08 17:11:34 -04:00
matlabbe
544ea9dff2
Update cmake.yml
2021-09-08 13:31:00 -04:00
matlabbe
09c2c4bbcb
Removed travis config, now use Github actions (see .github/workflows/cmake.yml) fixed #768
2021-09-08 12:09:59 -04:00
matlabbe
c209cf1c9b
Update cmake.yml
...
Added info after build
2021-09-08 12:06:14 -04:00
matlabbe
202d59b408
Update cmake.yml
...
Added ros setup.bash before cmake
2021-09-08 11:59:04 -04:00
matlabbe
9671daf9c3
Update cmake.yml
2021-09-08 11:53:13 -04:00
matlabbe
b5518ff618
Update cmake.yml
2021-09-08 11:46:29 -04:00
matlabbe
2111b6497b
Update cmake.yml
...
use setup-ros action
2021-09-08 11:37:03 -04:00
matlabbe
b51b2525a5
Added Github actions for melodic/focal
2021-09-08 11:24:11 -04:00
matlabbe
45d51808e3
💄
2021-09-08 09:38:16 -04:00
matlabbe
bc39b19517
projectCloudToCamerasImpl: fixed bug using wrong camera models
2021-09-08 09:34:21 -04:00
matlabbe
7baedf4c72
texturing: remove assert when poses and models are not the same size (just ignore poses without models, intermediate nodes issue)
2021-09-07 16:26:56 -04:00
matlabbe
20361400e1
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
2021-09-07 15:57:23 -04:00
matlabbe
c43118cde8
Fixed F2F-Optical flow not creating keyframes bug
2021-09-03 15:33:22 -04:00
matlabbe
371a3ef851
fixed CleanupLocalGrids install target
2021-09-01 10:23:45 -04:00
matlabbe
daefc5ff54
Added rtabmap-cleanupLocalGrids CLI
2021-08-28 22:19:59 -04:00
matlabbe
b932da6dcf
DbViewer: Adjusted GraphView's root id based on latest valid node on initialization
2021-08-28 20:23:44 -04:00
matlabbe
f88ce1618b
OdometryORBSLAM3: fixed re-initilisation of camera parameters when restarting camera with different config.
2021-08-26 15:34:48 -04:00
matlabbe
c5e4d67f80
export: don't assert if gain is zero (means disabled)
2021-08-16 20:27:31 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
6fb553a5e7
Update README.md
2021-08-13 14:46:56 -04:00
matlabbe
db00e04cc1
rtabmap-info: updated to show parameters not in the database.
2021-08-12 10:55:08 -04:00
matlabbe
eeecb21793
export tool: added --camera_projection_keep_all option
2021-08-03 13:46:39 -04:00
matlabbe
a5685c3e31
Fixed build without DepthAI dep
2021-07-28 17:05:16 -04:00
matlabbe
138d4aa1be
If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.
2021-07-28 14:32:32 -04:00
matlabbe
79d2b3fade
Merge branch 'master' of https://github.com/introlab/rtabmap
2021-07-28 14:19:49 -04:00
matlabbe
32bf0f9d61
Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support)
2021-07-28 14:19:30 -04:00
matlabbe
22a771e29c
trigger travis.com
2021-07-20 14:09:40 -04:00
matlabbe
17d8a92614
Update README.md
2021-07-20 12:58:42 -04:00
matlabbe
a91cd0c659
Update README.md
2021-07-20 12:58:16 -04:00
matlabbe
ae92ec40d7
Fixed build with LOAM dependency
2021-07-14 13:22:47 -04:00
matlabbe
7338cb8a85
Localization: fixed initial graph optimization root id (based on RGBD/OptimizeFromGraphEnd) when optimized graph is not saved in db.
2021-07-09 14:57:15 -04:00
matlabbe
456560b9e4
DBViewer/Extract Images: export calibration for each image, also now export multi-camera calibrations.
2021-07-07 12:21:57 -04:00
matlabbe
f9257beeb8
export: updated default poses format (11)
2021-07-05 12:58:24 -04:00
matlabbe
485bf806bd
export tool: use pcl's PLY writer instead of pdal if camera ids are not exported (ply compatibility issue when reading back using pcl)
2021-07-05 10:04:51 -04:00
matlabbe
68ae3b76af
export: updated to export calibration for every files (to support auto-focus cameras). Added output_dir option.
2021-07-05 09:46:12 -04:00
matlabbe
05d45872f3
DBReader: publish landmarks by default (also added option to ignore them)
2021-06-29 16:03:21 -04:00
matlabbe
3da4bb9faa
For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.
2021-06-27 20:37:42 -04:00
matlabbe
a921d615c5
0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).
2021-06-27 20:07:00 -04:00
matlabbe
2b9ae3a2ad
Added Icp/DebugExportFormat parameter
2021-06-26 16:06:25 -04:00
matlabbe
1a64e05e2f
fixed code merged
2021-06-26 13:47:49 -04:00
matlabbe
350f995ee9
merged master to scan_map branch
2021-06-25 16:38:03 -04:00
matlabbe
eabf3e3d57
Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.
2021-06-25 12:54:52 -04:00
matlabbe
be24203840
iOS: added toast info on rejected loop closures
2021-06-24 22:39:25 -04:00
matlabbe
48ebf969bd
OdometryInfo: fixed IcpRMS not copied in copyWithoutData()
2021-06-24 22:38:19 -04:00
matlabbe
656618ccb7
Merge branch 'master' of https://github.com/introlab/rtabmap into scan_map
2021-06-24 19:53:23 -04:00
matlabbe
f5ab422c42
Odom: when odom is auto reset, reprocess the latest image and return its pose
2021-06-24 13:41:38 -04:00
matlabbe
5a676e9032
Fixed negative Odom/ImageDecimation not handled
2021-06-24 12:44:18 -04:00
matlabbe
11e9837b82
Added RGBD/ProximityGlobalScanMap for proximity detection using the whole scan map in localization mode. Added Icp RMS statistics (CCCorelib). Updated how localization is corrected with gravity when available (simply use roll and pitch of current gravity constraint).
2021-06-23 17:13:07 -04:00
matlabbe
dddf6378ae
MainWindow: fixed currentVisiblePosesMap
2021-06-22 08:16:39 -04:00
matlabbe
5167927d01
report: added --ignore_inter_nodes option. CloudViewer: set max absolute scan intensity to 100 (was 0=auto). reprocess/replay db: ignore intermediate nodes if Rtabmap/CreateIntermediateNodes is false.
2021-06-21 17:23:53 -04:00
matlabbe
f475f2d21c
0.20.12: iOS/android sync
2021-06-21 10:07:30 -04:00
matlabbe
9fccb8703a
Merge branch 'master' of https://github.com/introlab/rtabmap into ios
2021-06-21 09:41:11 -04:00
matlabbe
62b5f13dd8
MainWindow: added currentVisiblePosesMap()
2021-06-20 23:05:24 -04:00
matlabbe
b8c22e1c99
Fixed pcl::voxelGrid filtering crash on Windows (latest PCL, eigen allocation issue)
2021-06-18 16:02:17 -04:00
matlabbe
d75cc04ad2
CloudViewer: fixed opengl not refreshed on update (VTK9). Fixed File Explorer hanging (Qt 5.12). Fixed backup database not deleted after a recovery.
2021-06-18 12:43:08 -04:00
matlabbe
a9d4fc9291
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
matlabbe
696216b35b
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
matlabbe
6342658ec5
iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.
2021-06-12 12:42:56 -04:00
matlabbe
3f633081cb
iOS: improved feedback in first-person mapping mode (red background), fixed not matching camera overlay with 3D model, updated how memory usage is computed.
2021-06-11 21:41:59 -04:00
matlabbe
a6f3a81999
fixed ios build
2021-06-11 10:20:07 -04:00
matlabbe
3e3d4142fc
RGBD/OptimizeMaxError default to 1 for mobile apps. iOS: increased Kp/MaxFeatures to 400 (was 200).
2021-06-11 09:29:37 -04:00
matlabbe
0a37d01d1d
ios/android: Updated default MaxOptimizeError to 1.5x
2021-06-10 11:27:53 -04:00
matlabbe
ba38d9f321
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
matlabbe
d7b5fa5d17
fixed android build
2021-06-09 17:45:01 -04:00
matlabbe
766301b175
fixed desktop build
2021-06-09 11:25:01 -04:00
matlabbe
289d4afd76
ios first release
2021-06-08 00:06:49 -04:00
matlabbe
630cb6a59f
Odometry: when "Rtabmap/ImagesAlreadyRectified" is false and odometry strategy doesn't support raw images, added rectification for RGB-D data (only rgb rectified though) for convenience.
2021-06-01 14:33:17 -04:00
matlabbe
12c46286f6
CameraRealSense2: added support for device id like D435, t265, L515, d435i, d415 for convenience (if we have multiple D435, we still need to use on of the serials shown in log info when starting the driver)
2021-06-01 11:40:46 -04:00
matlabbe
c9dbe6205d
Docker: added nvidia drvier embedding examples for convenience
2021-05-30 14:21:17 -04:00
matlabbe
b7c2f6801b
unknownSpaceFilled: refactored approach to fix the case of 360 scan with first ray y>=0 (turtlebot3 sim).
2021-05-27 18:19:34 -04:00
matlabbe
8b1b874bf3
Statistics: added LoopOptimization_max_ang_error stats
2021-05-27 13:00:29 -04:00
matlabbe
127a41a53e
MainWindow::createCamera() fixed parameters not passed by reference
2021-05-26 21:13:14 -04:00
matlabbe
c1492533c3
OctoMap: fixed empty cells not all added to global occupancy grid
2021-05-26 16:27:49 -04:00
matlabbe
ada3e75005
Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).
2021-05-26 13:40:46 -04:00
matlabbe
21dbeed4b7
Odom sensor option ( #726 )
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* Added Odom Sensor option
* Odom Sensor: Added pose time offset parameter
* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)
* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.
* Fixed a warning
* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.
* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse
* Pose3GravityFactor: fixed dllimport error on windows
* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().
* Removed vtkOutputWindow on Windows
* Odom Sensor: added zed sdk support
* bump version 0.20.11
2021-05-23 17:21:12 -04:00
matlabbe
fe896260c5
commonFiltering(): warn when normals could not be computed (returned all NaNs)
2021-05-16 11:58:17 -04:00
matlabbe
56bc15d7cd
MainWindow: fixed bg color not shown on loop closures when only scans are used.
2021-05-16 11:15:05 -04:00
matlabbe
e9d7fcd7ae
Vtk9 support ( #722 )
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* Fixed build with VTK9
* Fixed VTK9 build with OctoMap dependency (vtkRenderingVolumeOpenGL2 missing)
2021-05-15 19:43:47 -04:00
matlabbe
8c336e1e39
Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group.
2021-05-14 21:02:09 -04:00
matlabbe
4390cb6428
calibration tool: added RealSense2 T265 support
2021-05-12 18:31:41 -04:00
matlabbe
20c2e8b5be
Docker: updated libpointmatcher version in bionic/focal images ( https://github.com/introlab/rtabmap/issues/720 )
2021-05-12 14:01:26 -04:00
matlabbe
ad8b2301d8
Docker/focal: fixed alicevision patch corrupted (no newline)
2021-05-12 11:27:26 -04:00
matlabbe
d75f9524f3
Export: added --texture_depth_error option
2021-05-12 10:56:16 -04:00
matlabbe
aedc70218b
Docker: added AliceVision dependency to focal image
2021-05-12 10:38:37 -04:00
matlabbe
a11492943a
Export CLI: added print info for coloring mesh step
2021-05-10 15:19:48 -04:00
matlabbe
854a52c6a5
Export CLI: added noise_radius and noise_k options to filter noise
2021-05-10 14:45:35 -04:00
matlabbe
6449302318
appveyor: added opencv 4.5.0 binaries with opencv_contrib
2021-05-02 21:41:48 -04:00
matlabbe
3623ede989
Update .appveyor.yml
2021-05-02 20:37:45 -04:00
matlabbe